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<h1 id="sec_name">
<span data-if="hdevelop" style="display:inline;">create_surface_model</span><span data-if="c" style="display:none;">T_create_surface_model</span><span data-if="cpp" style="display:none;">CreateSurfaceModel</span><span data-if="dotnet" style="display:none;">CreateSurfaceModel</span><span data-if="python" style="display:none;">create_surface_model</span> (算子名称)</h1>
<h2>名称</h2>
<p><code><span data-if="hdevelop" style="display:inline;">create_surface_model</span><span data-if="c" style="display:none;">T_create_surface_model</span><span data-if="cpp" style="display:none;">CreateSurfaceModel</span><span data-if="dotnet" style="display:none;">CreateSurfaceModel</span><span data-if="python" style="display:none;">create_surface_model</span></code> — Create the data structure needed to perform surface-based matching.</p>
<h2 id="sec_synopsis">参数签名</h2>
<div data-if="hdevelop" style="display:inline;">
<p>
<code><b>create_surface_model</b>( :  : <a href="#ObjectModel3D"><i>ObjectModel3D</i></a>, <a href="#RelSamplingDistance"><i>RelSamplingDistance</i></a>, <a href="#GenParamName"><i>GenParamName</i></a>, <a href="#GenParamValue"><i>GenParamValue</i></a> : <a href="#SurfaceModelID"><i>SurfaceModelID</i></a>)</code></p>
</div>
<div data-if="c" style="display:none;">
<p>
<code>Herror <b>T_create_surface_model</b>(const Htuple <a href="#ObjectModel3D"><i>ObjectModel3D</i></a>, const Htuple <a href="#RelSamplingDistance"><i>RelSamplingDistance</i></a>, const Htuple <a href="#GenParamName"><i>GenParamName</i></a>, const Htuple <a href="#GenParamValue"><i>GenParamValue</i></a>, Htuple* <a href="#SurfaceModelID"><i>SurfaceModelID</i></a>)</code></p>
</div>
<div data-if="cpp" style="display:none;">
<p>
<code>void <b>CreateSurfaceModel</b>(const HTuple&amp; <a href="#ObjectModel3D"><i>ObjectModel3D</i></a>, const HTuple&amp; <a href="#RelSamplingDistance"><i>RelSamplingDistance</i></a>, const HTuple&amp; <a href="#GenParamName"><i>GenParamName</i></a>, const HTuple&amp; <a href="#GenParamValue"><i>GenParamValue</i></a>, HTuple* <a href="#SurfaceModelID"><i>SurfaceModelID</i></a>)</code></p>
<p>
<code><a href="HSurfaceModel.html">HSurfaceModel</a> <a href="HObjectModel3D.html">HObjectModel3D</a>::<b>CreateSurfaceModel</b>(double <a href="#RelSamplingDistance"><i>RelSamplingDistance</i></a>, const HTuple&amp; <a href="#GenParamName"><i>GenParamName</i></a>, const HTuple&amp; <a href="#GenParamValue"><i>GenParamValue</i></a>) const</code></p>
<p>
<code><a href="HSurfaceModel.html">HSurfaceModel</a> <a href="HObjectModel3D.html">HObjectModel3D</a>::<b>CreateSurfaceModel</b>(double <a href="#RelSamplingDistance"><i>RelSamplingDistance</i></a>, const HString&amp; <a href="#GenParamName"><i>GenParamName</i></a>, const HString&amp; <a href="#GenParamValue"><i>GenParamValue</i></a>) const</code></p>
<p>
<code><a href="HSurfaceModel.html">HSurfaceModel</a> <a href="HObjectModel3D.html">HObjectModel3D</a>::<b>CreateSurfaceModel</b>(double <a href="#RelSamplingDistance"><i>RelSamplingDistance</i></a>, const char* <a href="#GenParamName"><i>GenParamName</i></a>, const char* <a href="#GenParamValue"><i>GenParamValue</i></a>) const</code></p>
<p>
<code><a href="HSurfaceModel.html">HSurfaceModel</a> <a href="HObjectModel3D.html">HObjectModel3D</a>::<b>CreateSurfaceModel</b>(double <a href="#RelSamplingDistance"><i>RelSamplingDistance</i></a>, const wchar_t* <a href="#GenParamName"><i>GenParamName</i></a>, const wchar_t* <a href="#GenParamValue"><i>GenParamValue</i></a>) const  <span class="signnote">
            (
            Windows only)
          </span></code></p>
<p>
<code>void <a href="HSurfaceModel.html">HSurfaceModel</a>::<b>HSurfaceModel</b>(const HObjectModel3D&amp; <a href="#ObjectModel3D"><i>ObjectModel3D</i></a>, double <a href="#RelSamplingDistance"><i>RelSamplingDistance</i></a>, const HTuple&amp; <a href="#GenParamName"><i>GenParamName</i></a>, const HTuple&amp; <a href="#GenParamValue"><i>GenParamValue</i></a>)</code></p>
<p>
<code>void <a href="HSurfaceModel.html">HSurfaceModel</a>::<b>HSurfaceModel</b>(const HObjectModel3D&amp; <a href="#ObjectModel3D"><i>ObjectModel3D</i></a>, double <a href="#RelSamplingDistance"><i>RelSamplingDistance</i></a>, const HString&amp; <a href="#GenParamName"><i>GenParamName</i></a>, const HString&amp; <a href="#GenParamValue"><i>GenParamValue</i></a>)</code></p>
<p>
<code>void <a href="HSurfaceModel.html">HSurfaceModel</a>::<b>HSurfaceModel</b>(const HObjectModel3D&amp; <a href="#ObjectModel3D"><i>ObjectModel3D</i></a>, double <a href="#RelSamplingDistance"><i>RelSamplingDistance</i></a>, const char* <a href="#GenParamName"><i>GenParamName</i></a>, const char* <a href="#GenParamValue"><i>GenParamValue</i></a>)</code></p>
<p>
<code>void <a href="HSurfaceModel.html">HSurfaceModel</a>::<b>HSurfaceModel</b>(const HObjectModel3D&amp; <a href="#ObjectModel3D"><i>ObjectModel3D</i></a>, double <a href="#RelSamplingDistance"><i>RelSamplingDistance</i></a>, const wchar_t* <a href="#GenParamName"><i>GenParamName</i></a>, const wchar_t* <a href="#GenParamValue"><i>GenParamValue</i></a>)  <span class="signnote">
            (
            Windows only)
          </span></code></p>
<p>
<code>void <a href="HSurfaceModel.html">HSurfaceModel</a>::<b>CreateSurfaceModel</b>(const HObjectModel3D&amp; <a href="#ObjectModel3D"><i>ObjectModel3D</i></a>, double <a href="#RelSamplingDistance"><i>RelSamplingDistance</i></a>, const HTuple&amp; <a href="#GenParamName"><i>GenParamName</i></a>, const HTuple&amp; <a href="#GenParamValue"><i>GenParamValue</i></a>)</code></p>
<p>
<code>void <a href="HSurfaceModel.html">HSurfaceModel</a>::<b>CreateSurfaceModel</b>(const HObjectModel3D&amp; <a href="#ObjectModel3D"><i>ObjectModel3D</i></a>, double <a href="#RelSamplingDistance"><i>RelSamplingDistance</i></a>, const HString&amp; <a href="#GenParamName"><i>GenParamName</i></a>, const HString&amp; <a href="#GenParamValue"><i>GenParamValue</i></a>)</code></p>
<p>
<code>void <a href="HSurfaceModel.html">HSurfaceModel</a>::<b>CreateSurfaceModel</b>(const HObjectModel3D&amp; <a href="#ObjectModel3D"><i>ObjectModel3D</i></a>, double <a href="#RelSamplingDistance"><i>RelSamplingDistance</i></a>, const char* <a href="#GenParamName"><i>GenParamName</i></a>, const char* <a href="#GenParamValue"><i>GenParamValue</i></a>)</code></p>
<p>
<code>void <a href="HSurfaceModel.html">HSurfaceModel</a>::<b>CreateSurfaceModel</b>(const HObjectModel3D&amp; <a href="#ObjectModel3D"><i>ObjectModel3D</i></a>, double <a href="#RelSamplingDistance"><i>RelSamplingDistance</i></a>, const wchar_t* <a href="#GenParamName"><i>GenParamName</i></a>, const wchar_t* <a href="#GenParamValue"><i>GenParamValue</i></a>)  <span class="signnote">
            (
            Windows only)
          </span></code></p>
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<p>
<code>static void <a href="HOperatorSet.html">HOperatorSet</a>.<b>CreateSurfaceModel</b>(<a href="HTuple.html">HTuple</a> <a href="#ObjectModel3D"><i>objectModel3D</i></a>, <a href="HTuple.html">HTuple</a> <a href="#RelSamplingDistance"><i>relSamplingDistance</i></a>, <a href="HTuple.html">HTuple</a> <a href="#GenParamName"><i>genParamName</i></a>, <a href="HTuple.html">HTuple</a> <a href="#GenParamValue"><i>genParamValue</i></a>, out <a href="HTuple.html">HTuple</a> <a href="#SurfaceModelID"><i>surfaceModelID</i></a>)</code></p>
<p>
<code><a href="HSurfaceModel.html">HSurfaceModel</a> <a href="HObjectModel3D.html">HObjectModel3D</a>.<b>CreateSurfaceModel</b>(double <a href="#RelSamplingDistance"><i>relSamplingDistance</i></a>, <a href="HTuple.html">HTuple</a> <a href="#GenParamName"><i>genParamName</i></a>, <a href="HTuple.html">HTuple</a> <a href="#GenParamValue"><i>genParamValue</i></a>)</code></p>
<p>
<code><a href="HSurfaceModel.html">HSurfaceModel</a> <a href="HObjectModel3D.html">HObjectModel3D</a>.<b>CreateSurfaceModel</b>(double <a href="#RelSamplingDistance"><i>relSamplingDistance</i></a>, string <a href="#GenParamName"><i>genParamName</i></a>, string <a href="#GenParamValue"><i>genParamValue</i></a>)</code></p>
<p>
<code>public <a href="HSurfaceModel.html">HSurfaceModel</a>(<a href="HObjectModel3D.html">HObjectModel3D</a> <a href="#ObjectModel3D"><i>objectModel3D</i></a>, double <a href="#RelSamplingDistance"><i>relSamplingDistance</i></a>, <a href="HTuple.html">HTuple</a> <a href="#GenParamName"><i>genParamName</i></a>, <a href="HTuple.html">HTuple</a> <a href="#GenParamValue"><i>genParamValue</i></a>)</code></p>
<p>
<code>public <a href="HSurfaceModel.html">HSurfaceModel</a>(<a href="HObjectModel3D.html">HObjectModel3D</a> <a href="#ObjectModel3D"><i>objectModel3D</i></a>, double <a href="#RelSamplingDistance"><i>relSamplingDistance</i></a>, string <a href="#GenParamName"><i>genParamName</i></a>, string <a href="#GenParamValue"><i>genParamValue</i></a>)</code></p>
<p>
<code>void <a href="HSurfaceModel.html">HSurfaceModel</a>.<b>CreateSurfaceModel</b>(<a href="HObjectModel3D.html">HObjectModel3D</a> <a href="#ObjectModel3D"><i>objectModel3D</i></a>, double <a href="#RelSamplingDistance"><i>relSamplingDistance</i></a>, <a href="HTuple.html">HTuple</a> <a href="#GenParamName"><i>genParamName</i></a>, <a href="HTuple.html">HTuple</a> <a href="#GenParamValue"><i>genParamValue</i></a>)</code></p>
<p>
<code>void <a href="HSurfaceModel.html">HSurfaceModel</a>.<b>CreateSurfaceModel</b>(<a href="HObjectModel3D.html">HObjectModel3D</a> <a href="#ObjectModel3D"><i>objectModel3D</i></a>, double <a href="#RelSamplingDistance"><i>relSamplingDistance</i></a>, string <a href="#GenParamName"><i>genParamName</i></a>, string <a href="#GenParamValue"><i>genParamValue</i></a>)</code></p>
</div>
<div data-if="python" style="display:none;">
<p>
<code>def <b>create_surface_model</b>(<a href="#ObjectModel3D"><i>object_model_3d</i></a>: HHandle, <a href="#RelSamplingDistance"><i>rel_sampling_distance</i></a>: float, <a href="#GenParamName"><i>gen_param_name</i></a>: MaybeSequence[str], <a href="#GenParamValue"><i>gen_param_value</i></a>: MaybeSequence[Union[str, float, int]]) -&gt; HHandle</code></p>
</div>
<h2 id="sec_description">描述</h2>
<p>该算子 <code><span data-if="hdevelop" style="display:inline">create_surface_model</span><span data-if="c" style="display:none">create_surface_model</span><span data-if="cpp" style="display:none">CreateSurfaceModel</span><span data-if="com" style="display:none">CreateSurfaceModel</span><span data-if="dotnet" style="display:none">CreateSurfaceModel</span><span data-if="python" style="display:none">create_surface_model</span></code> creates a model for surface-based
matching for the 3D object model <a href="#ObjectModel3D"><i><code><span data-if="hdevelop" style="display:inline">ObjectModel3D</span><span data-if="c" style="display:none">ObjectModel3D</span><span data-if="cpp" style="display:none">ObjectModel3D</span><span data-if="com" style="display:none">ObjectModel3D</span><span data-if="dotnet" style="display:none">objectModel3D</span><span data-if="python" style="display:none">object_model_3d</span></code></i></a>.
The 3D object model can, for example, have been read previously from a file
by using <a href="read_object_model_3d.html"><code><span data-if="hdevelop" style="display:inline">read_object_model_3d</span><span data-if="c" style="display:none">read_object_model_3d</span><span data-if="cpp" style="display:none">ReadObjectModel3d</span><span data-if="com" style="display:none">ReadObjectModel3d</span><span data-if="dotnet" style="display:none">ReadObjectModel3d</span><span data-if="python" style="display:none">read_object_model_3d</span></code></a>, or been created by using
<a href="xyz_to_object_model_3d.html"><code><span data-if="hdevelop" style="display:inline">xyz_to_object_model_3d</span><span data-if="c" style="display:none">xyz_to_object_model_3d</span><span data-if="cpp" style="display:none">XyzToObjectModel3d</span><span data-if="com" style="display:none">XyzToObjectModel3d</span><span data-if="dotnet" style="display:none">XyzToObjectModel3d</span><span data-if="python" style="display:none">xyz_to_object_model_3d</span></code></a>.
The created surface model is returned in <a href="#SurfaceModelID"><i><code><span data-if="hdevelop" style="display:inline">SurfaceModelID</span><span data-if="c" style="display:none">SurfaceModelID</span><span data-if="cpp" style="display:none">SurfaceModelID</span><span data-if="com" style="display:none">SurfaceModelID</span><span data-if="dotnet" style="display:none">surfaceModelID</span><span data-if="python" style="display:none">surface_model_id</span></code></i></a>.
</p>
<p>Additional parameters of the surface model can be set with
<a href="set_surface_model_param.html"><code><span data-if="hdevelop" style="display:inline">set_surface_model_param</span><span data-if="c" style="display:none">set_surface_model_param</span><span data-if="cpp" style="display:none">SetSurfaceModelParam</span><span data-if="com" style="display:none">SetSurfaceModelParam</span><span data-if="dotnet" style="display:none">SetSurfaceModelParam</span><span data-if="python" style="display:none">set_surface_model_param</span></code></a> after the model was created.
</p>
<p>The creation of the surface model requires that the 3D object model
contains points and normals. The following combinations are possible:
</p>
<ul>
<li>
<p> points and point normals;
</p>
</li>
<li>
<p> points and a triangular or polygon mesh, e.g., from a CAD file;
</p>
</li>
<li>
<p> points and a 2D-Mapping, e.g., an XYZ image triple converted with
<a href="xyz_to_object_model_3d.html"><code><span data-if="hdevelop" style="display:inline">xyz_to_object_model_3d</span><span data-if="c" style="display:none">xyz_to_object_model_3d</span><span data-if="cpp" style="display:none">XyzToObjectModel3d</span><span data-if="com" style="display:none">XyzToObjectModel3d</span><span data-if="dotnet" style="display:none">XyzToObjectModel3d</span><span data-if="python" style="display:none">xyz_to_object_model_3d</span></code></a>.
</p>
</li>
</ul>
<p>Note that the direction and orientation (inward or outward) of the normals
of the model are important for matching.
For edge-supported surface-based matching the normals need to point inwards
and further the model must contain a triangular or polygon mesh (see below).
</p>
<p>The surface model is created by sampling the 3D object model with a certain
distance.
The sampling distance must be specified in the parameter
<a href="#RelSamplingDistance"><i><code><span data-if="hdevelop" style="display:inline">RelSamplingDistance</span><span data-if="c" style="display:none">RelSamplingDistance</span><span data-if="cpp" style="display:none">RelSamplingDistance</span><span data-if="com" style="display:none">RelSamplingDistance</span><span data-if="dotnet" style="display:none">relSamplingDistance</span><span data-if="python" style="display:none">rel_sampling_distance</span></code></i></a> and is parametrized relative to the diameter
of the axis-parallel bounding box of the 3D object model.
For example, if <a href="#RelSamplingDistance"><i><code><span data-if="hdevelop" style="display:inline">RelSamplingDistance</span><span data-if="c" style="display:none">RelSamplingDistance</span><span data-if="cpp" style="display:none">RelSamplingDistance</span><span data-if="com" style="display:none">RelSamplingDistance</span><span data-if="dotnet" style="display:none">relSamplingDistance</span><span data-if="python" style="display:none">rel_sampling_distance</span></code></i></a> is set to <i>0.05</i> and
the diameter of <a href="#ObjectModel3D"><i><code><span data-if="hdevelop" style="display:inline">ObjectModel3D</span><span data-if="c" style="display:none">ObjectModel3D</span><span data-if="cpp" style="display:none">ObjectModel3D</span><span data-if="com" style="display:none">ObjectModel3D</span><span data-if="dotnet" style="display:none">objectModel3D</span><span data-if="python" style="display:none">object_model_3d</span></code></i></a> is <i>10 cm</i>, the points
sampled from the object's surface will be approximately <i>5 mm</i>
apart.
The sampled points are used for the approximate matching in the
operator <a href="find_surface_model.html"><code><span data-if="hdevelop" style="display:inline">find_surface_model</span><span data-if="c" style="display:none">find_surface_model</span><span data-if="cpp" style="display:none">FindSurfaceModel</span><span data-if="com" style="display:none">FindSurfaceModel</span><span data-if="dotnet" style="display:none">FindSurfaceModel</span><span data-if="python" style="display:none">find_surface_model</span></code></a> (see below).
The sampled points can be obtained with 该算子
<a href="get_surface_model_param.html"><code><span data-if="hdevelop" style="display:inline">get_surface_model_param</span><span data-if="c" style="display:none">get_surface_model_param</span><span data-if="cpp" style="display:none">GetSurfaceModelParam</span><span data-if="com" style="display:none">GetSurfaceModelParam</span><span data-if="dotnet" style="display:none">GetSurfaceModelParam</span><span data-if="python" style="display:none">get_surface_model_param</span></code></a> using the value <i><span data-if="hdevelop" style="display:inline">'sampled_model'</span><span data-if="c" style="display:none">"sampled_model"</span><span data-if="cpp" style="display:none">"sampled_model"</span><span data-if="com" style="display:none">"sampled_model"</span><span data-if="dotnet" style="display:none">"sampled_model"</span><span data-if="python" style="display:none">"sampled_model"</span></i>.
Note that outlier points in the object model should be avoided, as they would
corrupt the diameter.
Reducing <a href="#RelSamplingDistance"><i><code><span data-if="hdevelop" style="display:inline">RelSamplingDistance</span><span data-if="c" style="display:none">RelSamplingDistance</span><span data-if="cpp" style="display:none">RelSamplingDistance</span><span data-if="com" style="display:none">RelSamplingDistance</span><span data-if="dotnet" style="display:none">relSamplingDistance</span><span data-if="python" style="display:none">rel_sampling_distance</span></code></i></a> leads to more points, and in turn
to a more stable but slower matching. Increasing
<a href="#RelSamplingDistance"><i><code><span data-if="hdevelop" style="display:inline">RelSamplingDistance</span><span data-if="c" style="display:none">RelSamplingDistance</span><span data-if="cpp" style="display:none">RelSamplingDistance</span><span data-if="com" style="display:none">RelSamplingDistance</span><span data-if="dotnet" style="display:none">relSamplingDistance</span><span data-if="python" style="display:none">rel_sampling_distance</span></code></i></a> leads to less points, and in turn to a less
stable but faster matching.
</p>
<div style="text-align:center;" class="figure">
<table style="margin-left:auto;margin-right:auto">
<tr>
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</g>
</svg></td>
</tr>
<tr>
<td align="center">
        (
      1)
    </td>
<td align="center">
        (
      2)
    </td>
<td align="center">
        (
      3)
    </td>
<td align="center">
        (
      4)
    </td>
</tr>
</table>
<div style="margin-bottom:30px;text-align:center;" class="caption">
(1) Original 3D model. (2) 3D model sampled with
<a href="#RelSamplingDistance"><i><code><span data-if="hdevelop" style="display:inline">RelSamplingDistance</span><span data-if="c" style="display:none">RelSamplingDistance</span><span data-if="cpp" style="display:none">RelSamplingDistance</span><span data-if="com" style="display:none">RelSamplingDistance</span><span data-if="dotnet" style="display:none">relSamplingDistance</span><span data-if="python" style="display:none">rel_sampling_distance</span></code></i></a> <i> = 0.02</i>.
(3) <a href="#RelSamplingDistance"><i><code><span data-if="hdevelop" style="display:inline">RelSamplingDistance</span><span data-if="c" style="display:none">RelSamplingDistance</span><span data-if="cpp" style="display:none">RelSamplingDistance</span><span data-if="com" style="display:none">RelSamplingDistance</span><span data-if="dotnet" style="display:none">relSamplingDistance</span><span data-if="python" style="display:none">rel_sampling_distance</span></code></i></a> <i> = 0.03</i>.
(4) <a href="#RelSamplingDistance"><i><code><span data-if="hdevelop" style="display:inline">RelSamplingDistance</span><span data-if="c" style="display:none">RelSamplingDistance</span><span data-if="cpp" style="display:none">RelSamplingDistance</span><span data-if="com" style="display:none">RelSamplingDistance</span><span data-if="dotnet" style="display:none">relSamplingDistance</span><span data-if="python" style="display:none">rel_sampling_distance</span></code></i></a> <i> = 0.05</i>.
</div>
</div>
<p>The sampled points are used for finding the object model in a scene by using
该算子 <a href="find_surface_model.html"><code><span data-if="hdevelop" style="display:inline">find_surface_model</span><span data-if="c" style="display:none">find_surface_model</span><span data-if="cpp" style="display:none">FindSurfaceModel</span><span data-if="com" style="display:none">FindSurfaceModel</span><span data-if="dotnet" style="display:none">FindSurfaceModel</span><span data-if="python" style="display:none">find_surface_model</span></code></a>.
For this, all possible pairs of points from the point set are examined, and
the distance and relative surface orientation of each pair is computed. Both
values are discretized and stored for matching. The generic parameters
<i><span data-if="hdevelop" style="display:inline">'feat_step_size_rel'</span><span data-if="c" style="display:none">"feat_step_size_rel"</span><span data-if="cpp" style="display:none">"feat_step_size_rel"</span><span data-if="com" style="display:none">"feat_step_size_rel"</span><span data-if="dotnet" style="display:none">"feat_step_size_rel"</span><span data-if="python" style="display:none">"feat_step_size_rel"</span></i> and <i><span data-if="hdevelop" style="display:inline">'feat_angle_resolution'</span><span data-if="c" style="display:none">"feat_angle_resolution"</span><span data-if="cpp" style="display:none">"feat_angle_resolution"</span><span data-if="com" style="display:none">"feat_angle_resolution"</span><span data-if="dotnet" style="display:none">"feat_angle_resolution"</span><span data-if="python" style="display:none">"feat_angle_resolution"</span></i> can be
used to set the discretization of the distance and the orientation angles,
respectively (see below).
</p>
<p>The 3D object model is sampled a second time for the pose refinement.
The second sampling is done with a smaller sampling distance, leading to
more points.
The generic parameter <i><span data-if="hdevelop" style="display:inline">'pose_ref_rel_sampling_distance'</span><span data-if="c" style="display:none">"pose_ref_rel_sampling_distance"</span><span data-if="cpp" style="display:none">"pose_ref_rel_sampling_distance"</span><span data-if="com" style="display:none">"pose_ref_rel_sampling_distance"</span><span data-if="dotnet" style="display:none">"pose_ref_rel_sampling_distance"</span><span data-if="python" style="display:none">"pose_ref_rel_sampling_distance"</span></i> sets the
sampling distance relative to the object's diameter.
Decreasing the value results in a more accurate pose refinement but a
larger model and a slower model generation and matching.
Increasing the value leads to a less accurate pose refinement but
a smaller model and faster model generation and matching (see below).
</p>
<p>Surface-based matching can additionally use 3D edges to improve the
alignment.
This is particularly helpful for
objects that are planar or contain larger planar sides, such that they
are found in incorrect rotations or in a background plane.
In order to allow <a href="find_surface_model.html"><code><span data-if="hdevelop" style="display:inline">find_surface_model</span><span data-if="c" style="display:none">find_surface_model</span><span data-if="cpp" style="display:none">FindSurfaceModel</span><span data-if="com" style="display:none">FindSurfaceModel</span><span data-if="dotnet" style="display:none">FindSurfaceModel</span><span data-if="python" style="display:none">find_surface_model</span></code></a> to also align edges, the
surface model must be trained by setting the generic parameter
<i><span data-if="hdevelop" style="display:inline">'train_3d_edges'</span><span data-if="c" style="display:none">"train_3d_edges"</span><span data-if="cpp" style="display:none">"train_3d_edges"</span><span data-if="com" style="display:none">"train_3d_edges"</span><span data-if="dotnet" style="display:none">"train_3d_edges"</span><span data-if="python" style="display:none">"train_3d_edges"</span></i> to <i><span data-if="hdevelop" style="display:inline">'true'</span><span data-if="c" style="display:none">"true"</span><span data-if="cpp" style="display:none">"true"</span><span data-if="com" style="display:none">"true"</span><span data-if="dotnet" style="display:none">"true"</span><span data-if="python" style="display:none">"true"</span></i>.
In this case, the model must contain a triangular or polygon mesh where
the order of the points results in normals that point inwards.
Also, the training for edge-supported surface-based matching
requires OpenGL 2.1, GLSL 1.2, and the OpenGL extensions
GL_EXT_framebuffer_object and GL_EXT_framebuffer_blit.
Note that the training can take significantly longer than without
edge-support.
</p>
<p>Additionally, the model can be prepared to support view-based score
computation. This is particularly helpful for models where only a small
part of the 3D object model is visible, which results in low scores if the
ratio to the total number of points is used. Accordingly, the view-based
score is computed using the ratio of the matched points to the maximum number
of potentially visible model points from a certain viewpoint.
In order to allow <a href="find_surface_model.html"><code><span data-if="hdevelop" style="display:inline">find_surface_model</span><span data-if="c" style="display:none">find_surface_model</span><span data-if="cpp" style="display:none">FindSurfaceModel</span><span data-if="com" style="display:none">FindSurfaceModel</span><span data-if="dotnet" style="display:none">FindSurfaceModel</span><span data-if="python" style="display:none">find_surface_model</span></code></a> to compute a view-based score,
the surface model must be trained by setting the generic parameter
<i><span data-if="hdevelop" style="display:inline">'train_view_based'</span><span data-if="c" style="display:none">"train_view_based"</span><span data-if="cpp" style="display:none">"train_view_based"</span><span data-if="com" style="display:none">"train_view_based"</span><span data-if="dotnet" style="display:none">"train_view_based"</span><span data-if="python" style="display:none">"train_view_based"</span></i> to <i><span data-if="hdevelop" style="display:inline">'true'</span><span data-if="c" style="display:none">"true"</span><span data-if="cpp" style="display:none">"true"</span><span data-if="com" style="display:none">"true"</span><span data-if="dotnet" style="display:none">"true"</span><span data-if="python" style="display:none">"true"</span></i>.
Similar to <i><span data-if="hdevelop" style="display:inline">'train_3d_edges'</span><span data-if="c" style="display:none">"train_3d_edges"</span><span data-if="cpp" style="display:none">"train_3d_edges"</span><span data-if="com" style="display:none">"train_3d_edges"</span><span data-if="dotnet" style="display:none">"train_3d_edges"</span><span data-if="python" style="display:none">"train_3d_edges"</span></i>, the model must contain a triangular
or polygon mesh where the order of the points results in normals that
point inwards.
</p>
<p>Note that using noisy data for the creation of your 3D object model results
in the computation of deficient surface normals. Especially when the model is
prepared for the use with 3D edges or the support of view-based score, this
can lead to unreliable scores.
In order to reduce noisy 3D data you can, e.g., use
<a href="smooth_object_model_3d.html"><code><span data-if="hdevelop" style="display:inline">smooth_object_model_3d</span><span data-if="c" style="display:none">smooth_object_model_3d</span><span data-if="cpp" style="display:none">SmoothObjectModel3d</span><span data-if="com" style="display:none">SmoothObjectModel3d</span><span data-if="dotnet" style="display:none">SmoothObjectModel3d</span><span data-if="python" style="display:none">smooth_object_model_3d</span></code></a> or <a href="simplify_object_model_3d.html"><code><span data-if="hdevelop" style="display:inline">simplify_object_model_3d</span><span data-if="c" style="display:none">simplify_object_model_3d</span><span data-if="cpp" style="display:none">SimplifyObjectModel3d</span><span data-if="com" style="display:none">SimplifyObjectModel3d</span><span data-if="dotnet" style="display:none">SimplifyObjectModel3d</span><span data-if="python" style="display:none">simplify_object_model_3d</span></code></a>.
</p>
<p>The generic parameter pair <a href="#GenParamName"><i><code><span data-if="hdevelop" style="display:inline">GenParamName</span><span data-if="c" style="display:none">GenParamName</span><span data-if="cpp" style="display:none">GenParamName</span><span data-if="com" style="display:none">GenParamName</span><span data-if="dotnet" style="display:none">genParamName</span><span data-if="python" style="display:none">gen_param_name</span></code></i></a> and <a href="#GenParamValue"><i><code><span data-if="hdevelop" style="display:inline">GenParamValue</span><span data-if="c" style="display:none">GenParamValue</span><span data-if="cpp" style="display:none">GenParamValue</span><span data-if="com" style="display:none">GenParamValue</span><span data-if="dotnet" style="display:none">genParamValue</span><span data-if="python" style="display:none">gen_param_value</span></code></i></a>
are used to set additional parameters for the model generation.
<a href="#GenParamName"><i><code><span data-if="hdevelop" style="display:inline">GenParamName</span><span data-if="c" style="display:none">GenParamName</span><span data-if="cpp" style="display:none">GenParamName</span><span data-if="com" style="display:none">GenParamName</span><span data-if="dotnet" style="display:none">genParamName</span><span data-if="python" style="display:none">gen_param_name</span></code></i></a> contains the tuple of parameter names that shall be
set and <a href="#GenParamValue"><i><code><span data-if="hdevelop" style="display:inline">GenParamValue</span><span data-if="c" style="display:none">GenParamValue</span><span data-if="cpp" style="display:none">GenParamValue</span><span data-if="com" style="display:none">GenParamValue</span><span data-if="dotnet" style="display:none">genParamValue</span><span data-if="python" style="display:none">gen_param_value</span></code></i></a> contains the corresponding values.
The following values are possible for <a href="#GenParamName"><i><code><span data-if="hdevelop" style="display:inline">GenParamName</span><span data-if="c" style="display:none">GenParamName</span><span data-if="cpp" style="display:none">GenParamName</span><span data-if="com" style="display:none">GenParamName</span><span data-if="dotnet" style="display:none">genParamName</span><span data-if="python" style="display:none">gen_param_name</span></code></i></a>:
</p>
<dl class="generic">

<dt><b><i><span data-if="hdevelop" style="display:inline">'model_invert_normals'</span><span data-if="c" style="display:none">"model_invert_normals"</span><span data-if="cpp" style="display:none">"model_invert_normals"</span><span data-if="com" style="display:none">"model_invert_normals"</span><span data-if="dotnet" style="display:none">"model_invert_normals"</span><span data-if="python" style="display:none">"model_invert_normals"</span></i>:</b></dt>
<dd>
<p>

Invert the orientation of the surface normals of the model.
The normal orientation needs to be known for the model generation.
If both the model and the scene are acquired with the same setup,
the normals will already point in the same direction.
If the model was loaded from a CAD file, the normals might point
into the opposite direction. If you experience the effect that the
model is found on the 'outside' of the scene surface and the
model was created from a CAD file, try to set this parameter to
<i><span data-if="hdevelop" style="display:inline">'true'</span><span data-if="c" style="display:none">"true"</span><span data-if="cpp" style="display:none">"true"</span><span data-if="com" style="display:none">"true"</span><span data-if="dotnet" style="display:none">"true"</span><span data-if="python" style="display:none">"true"</span></i>.
Also, make sure that the normals in the CAD file all point either
outward or inward, i.e., are oriented consistently.
The normal direction is irrelevant for the pose refinement of
the surface model. Therefore, if the object model is only used with the
operator <a href="refine_surface_model_pose.html"><code><span data-if="hdevelop" style="display:inline">refine_surface_model_pose</span><span data-if="c" style="display:none">refine_surface_model_pose</span><span data-if="cpp" style="display:none">RefineSurfaceModelPose</span><span data-if="com" style="display:none">RefineSurfaceModelPose</span><span data-if="dotnet" style="display:none">RefineSurfaceModelPose</span><span data-if="python" style="display:none">refine_surface_model_pose</span></code></a>, the value of
<i><span data-if="hdevelop" style="display:inline">'model_invert_normals'</span><span data-if="c" style="display:none">"model_invert_normals"</span><span data-if="cpp" style="display:none">"model_invert_normals"</span><span data-if="com" style="display:none">"model_invert_normals"</span><span data-if="dotnet" style="display:none">"model_invert_normals"</span><span data-if="python" style="display:none">"model_invert_normals"</span></i> has no effect on the result.
</p>
<p>
<i>Possible values:</i> <i><span data-if="hdevelop" style="display:inline">'false'</span><span data-if="c" style="display:none">"false"</span><span data-if="cpp" style="display:none">"false"</span><span data-if="com" style="display:none">"false"</span><span data-if="dotnet" style="display:none">"false"</span><span data-if="python" style="display:none">"false"</span></i>, <i><span data-if="hdevelop" style="display:inline">'true'</span><span data-if="c" style="display:none">"true"</span><span data-if="cpp" style="display:none">"true"</span><span data-if="com" style="display:none">"true"</span><span data-if="dotnet" style="display:none">"true"</span><span data-if="python" style="display:none">"true"</span></i> </p>
<p>
<i>Default value:</i> <i><span data-if="hdevelop" style="display:inline">'false'</span><span data-if="c" style="display:none">"false"</span><span data-if="cpp" style="display:none">"false"</span><span data-if="com" style="display:none">"false"</span><span data-if="dotnet" style="display:none">"false"</span><span data-if="python" style="display:none">"false"</span></i>
</p>
</dd>

<dt><b><i><span data-if="hdevelop" style="display:inline">'pose_ref_rel_sampling_distance'</span><span data-if="c" style="display:none">"pose_ref_rel_sampling_distance"</span><span data-if="cpp" style="display:none">"pose_ref_rel_sampling_distance"</span><span data-if="com" style="display:none">"pose_ref_rel_sampling_distance"</span><span data-if="dotnet" style="display:none">"pose_ref_rel_sampling_distance"</span><span data-if="python" style="display:none">"pose_ref_rel_sampling_distance"</span></i>:</b></dt>
<dd>
<p>

Set the sampling distance for the pose refinement relative to the
object's diameter.
Decreasing this value leads to a more accurate pose refinement but a
larger model and slower model generation and refinement.
Increasing the value leads to a less accurate pose refinement but a
smaller model and faster model generation and matching.</p>
<p>
<i>Suggested values:</i> <i>0.05</i>, <i>0.02</i>, <i>0.01</i>,
<i>0.005</i> </p>
<p>
<i>Default value:</i> <i>0.01</i> </p>
<p>
<i>Assertion:</i> 0 &lt; <i><span data-if="hdevelop" style="display:inline">'pose_ref_rel_sampling_distance'</span><span data-if="c" style="display:none">"pose_ref_rel_sampling_distance"</span><span data-if="cpp" style="display:none">"pose_ref_rel_sampling_distance"</span><span data-if="com" style="display:none">"pose_ref_rel_sampling_distance"</span><span data-if="dotnet" style="display:none">"pose_ref_rel_sampling_distance"</span><span data-if="python" style="display:none">"pose_ref_rel_sampling_distance"</span></i> &lt; 1
</p>
</dd>

<dt><b><i><span data-if="hdevelop" style="display:inline">'feat_step_size_rel'</span><span data-if="c" style="display:none">"feat_step_size_rel"</span><span data-if="cpp" style="display:none">"feat_step_size_rel"</span><span data-if="com" style="display:none">"feat_step_size_rel"</span><span data-if="dotnet" style="display:none">"feat_step_size_rel"</span><span data-if="python" style="display:none">"feat_step_size_rel"</span></i>:</b></dt>
<dd>
<p>

Set the discretization distance of the point pair distance relative to
the object's diameter.
This value defaults to the value of <a href="#RelSamplingDistance"><i><code><span data-if="hdevelop" style="display:inline">RelSamplingDistance</span><span data-if="c" style="display:none">RelSamplingDistance</span><span data-if="cpp" style="display:none">RelSamplingDistance</span><span data-if="com" style="display:none">RelSamplingDistance</span><span data-if="dotnet" style="display:none">relSamplingDistance</span><span data-if="python" style="display:none">rel_sampling_distance</span></code></i></a>.
It is not recommended to change this value.
For very noisy scenes, the value can be increased to improve the
robustness of the matching against noisy points. </p>
<p>
<i>Suggested values:</i> <i>0.1</i>, <i>0.05</i>, <i>0.03</i> </p>
<p>
<i>Default value:</i> Value of <a href="#RelSamplingDistance"><i><code><span data-if="hdevelop" style="display:inline">RelSamplingDistance</span><span data-if="c" style="display:none">RelSamplingDistance</span><span data-if="cpp" style="display:none">RelSamplingDistance</span><span data-if="com" style="display:none">RelSamplingDistance</span><span data-if="dotnet" style="display:none">relSamplingDistance</span><span data-if="python" style="display:none">rel_sampling_distance</span></code></i></a> </p>
<p>
<i>Assertion:</i> 0 &lt; <i><span data-if="hdevelop" style="display:inline">'feat_step_size_rel'</span><span data-if="c" style="display:none">"feat_step_size_rel"</span><span data-if="cpp" style="display:none">"feat_step_size_rel"</span><span data-if="com" style="display:none">"feat_step_size_rel"</span><span data-if="dotnet" style="display:none">"feat_step_size_rel"</span><span data-if="python" style="display:none">"feat_step_size_rel"</span></i> &lt; 1
</p>
</dd>

<dt><b><i><span data-if="hdevelop" style="display:inline">'feat_angle_resolution'</span><span data-if="c" style="display:none">"feat_angle_resolution"</span><span data-if="cpp" style="display:none">"feat_angle_resolution"</span><span data-if="com" style="display:none">"feat_angle_resolution"</span><span data-if="dotnet" style="display:none">"feat_angle_resolution"</span><span data-if="python" style="display:none">"feat_angle_resolution"</span></i>:</b></dt>
<dd>
<p>

Set the discretization of the point pair orientation as the number of
subdivisions of the angle.
It is recommended to not change this value.
Increasing the value increases the precision of the matching but
decreases the robustness against incorrect normal directions.
Decreasing the value decreases the precision of the matching but
increases the robustness against incorrect normal directions.
For very noisy scenes where the normal directions can not be computed
accurately, the value can be set to <i>25</i> or <i>20</i>. </p>
<p>
<i>Suggested values:</i> <i>20</i>, <i>25</i>, <i>30</i> </p>
<p>
<i>Default value:</i> <i>30</i>  </p>
<p>
<i>Assertion:</i> <i><span data-if="hdevelop" style="display:inline">'feat_angle_resolution'</span><span data-if="c" style="display:none">"feat_angle_resolution"</span><span data-if="cpp" style="display:none">"feat_angle_resolution"</span><span data-if="com" style="display:none">"feat_angle_resolution"</span><span data-if="dotnet" style="display:none">"feat_angle_resolution"</span><span data-if="python" style="display:none">"feat_angle_resolution"</span></i> &gt; 1
</p>
</dd>

<dt><b><i><span data-if="hdevelop" style="display:inline">'train_3d_edges'</span><span data-if="c" style="display:none">"train_3d_edges"</span><span data-if="cpp" style="display:none">"train_3d_edges"</span><span data-if="com" style="display:none">"train_3d_edges"</span><span data-if="dotnet" style="display:none">"train_3d_edges"</span><span data-if="python" style="display:none">"train_3d_edges"</span></i>:</b></dt>
<dd>
<p>

Enable the training for edge-supported surface-based matching and
refinement.
In this case the model must contain a mesh, i.e. triangles or polygons.
Also, it is important that the computed normal vectors point inwards.
This parameter requires OpenGL.
</p>
<p>
<i>Possible values:</i> <i><span data-if="hdevelop" style="display:inline">'false'</span><span data-if="c" style="display:none">"false"</span><span data-if="cpp" style="display:none">"false"</span><span data-if="com" style="display:none">"false"</span><span data-if="dotnet" style="display:none">"false"</span><span data-if="python" style="display:none">"false"</span></i>, <i><span data-if="hdevelop" style="display:inline">'true'</span><span data-if="c" style="display:none">"true"</span><span data-if="cpp" style="display:none">"true"</span><span data-if="com" style="display:none">"true"</span><span data-if="dotnet" style="display:none">"true"</span><span data-if="python" style="display:none">"true"</span></i> </p>
<p>
<i>Default value:</i> <i><span data-if="hdevelop" style="display:inline">'false'</span><span data-if="c" style="display:none">"false"</span><span data-if="cpp" style="display:none">"false"</span><span data-if="com" style="display:none">"false"</span><span data-if="dotnet" style="display:none">"false"</span><span data-if="python" style="display:none">"false"</span></i>
</p>
</dd>

<dt><b><i><span data-if="hdevelop" style="display:inline">'train_view_based'</span><span data-if="c" style="display:none">"train_view_based"</span><span data-if="cpp" style="display:none">"train_view_based"</span><span data-if="com" style="display:none">"train_view_based"</span><span data-if="dotnet" style="display:none">"train_view_based"</span><span data-if="python" style="display:none">"train_view_based"</span></i>:</b></dt>
<dd>
<p>

Enable the training for view-based score computation for surface-based
matching and refinement.
In this case the model must contain a mesh, i.e. triangles or polygons.
Also, it is important that the computed normal vectors point inwards.
This parameter requires OpenGL.
</p>
<p>
<i>Possible values:</i> <i><span data-if="hdevelop" style="display:inline">'false'</span><span data-if="c" style="display:none">"false"</span><span data-if="cpp" style="display:none">"false"</span><span data-if="com" style="display:none">"false"</span><span data-if="dotnet" style="display:none">"false"</span><span data-if="python" style="display:none">"false"</span></i>, <i><span data-if="hdevelop" style="display:inline">'true'</span><span data-if="c" style="display:none">"true"</span><span data-if="cpp" style="display:none">"true"</span><span data-if="com" style="display:none">"true"</span><span data-if="dotnet" style="display:none">"true"</span><span data-if="python" style="display:none">"true"</span></i> </p>
<p>
<i>Default value:</i> <i><span data-if="hdevelop" style="display:inline">'false'</span><span data-if="c" style="display:none">"false"</span><span data-if="cpp" style="display:none">"false"</span><span data-if="com" style="display:none">"false"</span><span data-if="dotnet" style="display:none">"false"</span><span data-if="python" style="display:none">"false"</span></i>
</p>
</dd>

<dt><b><i><span data-if="hdevelop" style="display:inline">'train_self_similar_poses'</span><span data-if="c" style="display:none">"train_self_similar_poses"</span><span data-if="cpp" style="display:none">"train_self_similar_poses"</span><span data-if="com" style="display:none">"train_self_similar_poses"</span><span data-if="dotnet" style="display:none">"train_self_similar_poses"</span><span data-if="python" style="display:none">"train_self_similar_poses"</span></i>:</b></dt>
<dd>
<p>

Prepares the surface model for optimizations regarding self-similar,
almost symmetric poses.
For this, poses are found under which the model is very similar
to itself, i.e., poses that can be distinguished only by very
small properties of the model (such as boreholes) and that
can be confused by <a href="find_surface_model.html"><code><span data-if="hdevelop" style="display:inline">find_surface_model</span><span data-if="c" style="display:none">find_surface_model</span><span data-if="cpp" style="display:none">FindSurfaceModel</span><span data-if="com" style="display:none">FindSurfaceModel</span><span data-if="dotnet" style="display:none">FindSurfaceModel</span><span data-if="python" style="display:none">find_surface_model</span></code></a>.
When calling <a href="find_surface_model.html"><code><span data-if="hdevelop" style="display:inline">find_surface_model</span><span data-if="c" style="display:none">find_surface_model</span><span data-if="cpp" style="display:none">FindSurfaceModel</span><span data-if="com" style="display:none">FindSurfaceModel</span><span data-if="dotnet" style="display:none">FindSurfaceModel</span><span data-if="python" style="display:none">find_surface_model</span></code></a>, it will automatically be determined
which of those self-similar poses are correct.
</p>
<p>
<i>Possible values:</i> <i><span data-if="hdevelop" style="display:inline">'false'</span><span data-if="c" style="display:none">"false"</span><span data-if="cpp" style="display:none">"false"</span><span data-if="com" style="display:none">"false"</span><span data-if="dotnet" style="display:none">"false"</span><span data-if="python" style="display:none">"false"</span></i>, <i><span data-if="hdevelop" style="display:inline">'true'</span><span data-if="c" style="display:none">"true"</span><span data-if="cpp" style="display:none">"true"</span><span data-if="com" style="display:none">"true"</span><span data-if="dotnet" style="display:none">"true"</span><span data-if="python" style="display:none">"true"</span></i> </p>
<p>
<i>Default value:</i> <i><span data-if="hdevelop" style="display:inline">'false'</span><span data-if="c" style="display:none">"false"</span><span data-if="cpp" style="display:none">"false"</span><span data-if="com" style="display:none">"false"</span><span data-if="dotnet" style="display:none">"false"</span><span data-if="python" style="display:none">"false"</span></i>
</p>
</dd>
</dl>
<h2 id="sec_execution">运行信息</h2>
<ul>
  <li>多线程类型:可重入(与非独占操作符并行运行)。</li>
<li>多线程作用域:全局(可以从任何线程调用)。</li>
  
    <li>Automatically parallelized on internal data level.</li>
  
</ul>
<p>This operator returns a handle. Note that the state of an instance of this handle type may be changed by specific operators even though the handle is used as an input parameter by those operators.</p>
<p>This operator supports canceling timeouts and interrupts.</p>
<h2 id="sec_parameters">参数表</h2>
  <div class="par">
<div class="parhead">
<span id="ObjectModel3D" class="parname"><b><code><span data-if="hdevelop" style="display:inline">ObjectModel3D</span><span data-if="c" style="display:none">ObjectModel3D</span><span data-if="cpp" style="display:none">ObjectModel3D</span><span data-if="com" style="display:none">ObjectModel3D</span><span data-if="dotnet" style="display:none">objectModel3D</span><span data-if="python" style="display:none">object_model_3d</span></code></b> (input_control)  </span><span>object_model_3d <code>→</code> <span data-if="dotnet" style="display:none"><a href="HObjectModel3D.html">HObjectModel3D</a>, </span><span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">HHandle</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (handle)</span><span data-if="dotnet" style="display:none"> (<i>IntPtr</i>)</span><span data-if="cpp" style="display:none"> (<i>HHandle</i>)</span><span data-if="c" style="display:none"> (<i>handle</i>)</span></span>
</div>
<p class="pardesc">Handle of the 3D object model.</p>
</div>
  <div class="par">
<div class="parhead">
<span id="RelSamplingDistance" class="parname"><b><code><span data-if="hdevelop" style="display:inline">RelSamplingDistance</span><span data-if="c" style="display:none">RelSamplingDistance</span><span data-if="cpp" style="display:none">RelSamplingDistance</span><span data-if="com" style="display:none">RelSamplingDistance</span><span data-if="dotnet" style="display:none">relSamplingDistance</span><span data-if="python" style="display:none">rel_sampling_distance</span></code></b> (input_control)  </span><span>real <code>→</code> <span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">float</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (real)</span><span data-if="dotnet" style="display:none"> (<i>double</i>)</span><span data-if="cpp" style="display:none"> (<i>double</i>)</span><span data-if="c" style="display:none"> (<i>double</i>)</span></span>
</div>
<p class="pardesc">Sampling distance relative to the object's diameter</p>
<p class="pardesc"><span class="parcat">Default:
      </span>0.03</p>
<p class="pardesc"><span class="parcat">Suggested values:
      </span>0.1, 0.05, 0.03, 0.02, 0.01</p>
<p class="pardesc"><span class="parcat">Restriction:
      </span><code>0 &lt; RelSamplingDistance &lt; 1</code></p>
</div>
  <div class="par">
<div class="parhead">
<span id="GenParamName" class="parname"><b><code><span data-if="hdevelop" style="display:inline">GenParamName</span><span data-if="c" style="display:none">GenParamName</span><span data-if="cpp" style="display:none">GenParamName</span><span data-if="com" style="display:none">GenParamName</span><span data-if="dotnet" style="display:none">genParamName</span><span data-if="python" style="display:none">gen_param_name</span></code></b> (input_control)  </span><span>attribute.name(-array) <code>→</code> <span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">MaybeSequence[str]</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (string)</span><span data-if="dotnet" style="display:none"> (<i>string</i>)</span><span data-if="cpp" style="display:none"> (<i>HString</i>)</span><span data-if="c" style="display:none"> (<i>char*</i>)</span></span>
</div>
<p class="pardesc">Names of the generic parameters.</p>
<p class="pardesc"><span class="parcat">Default:
      </span>[]</p>
<p class="pardesc"><span class="parcat">Suggested values:
      </span><span data-if="hdevelop" style="display:inline">'model_invert_normals'</span><span data-if="c" style="display:none">"model_invert_normals"</span><span data-if="cpp" style="display:none">"model_invert_normals"</span><span data-if="com" style="display:none">"model_invert_normals"</span><span data-if="dotnet" style="display:none">"model_invert_normals"</span><span data-if="python" style="display:none">"model_invert_normals"</span>, <span data-if="hdevelop" style="display:inline">'pose_ref_rel_sampling_distance'</span><span data-if="c" style="display:none">"pose_ref_rel_sampling_distance"</span><span data-if="cpp" style="display:none">"pose_ref_rel_sampling_distance"</span><span data-if="com" style="display:none">"pose_ref_rel_sampling_distance"</span><span data-if="dotnet" style="display:none">"pose_ref_rel_sampling_distance"</span><span data-if="python" style="display:none">"pose_ref_rel_sampling_distance"</span>, <span data-if="hdevelop" style="display:inline">'feat_step_size_rel'</span><span data-if="c" style="display:none">"feat_step_size_rel"</span><span data-if="cpp" style="display:none">"feat_step_size_rel"</span><span data-if="com" style="display:none">"feat_step_size_rel"</span><span data-if="dotnet" style="display:none">"feat_step_size_rel"</span><span data-if="python" style="display:none">"feat_step_size_rel"</span>, <span data-if="hdevelop" style="display:inline">'feat_angle_resolution'</span><span data-if="c" style="display:none">"feat_angle_resolution"</span><span data-if="cpp" style="display:none">"feat_angle_resolution"</span><span data-if="com" style="display:none">"feat_angle_resolution"</span><span data-if="dotnet" style="display:none">"feat_angle_resolution"</span><span data-if="python" style="display:none">"feat_angle_resolution"</span>, <span data-if="hdevelop" style="display:inline">'train_3d_edges'</span><span data-if="c" style="display:none">"train_3d_edges"</span><span data-if="cpp" style="display:none">"train_3d_edges"</span><span data-if="com" style="display:none">"train_3d_edges"</span><span data-if="dotnet" style="display:none">"train_3d_edges"</span><span data-if="python" style="display:none">"train_3d_edges"</span>, <span data-if="hdevelop" style="display:inline">'train_view_based'</span><span data-if="c" style="display:none">"train_view_based"</span><span data-if="cpp" style="display:none">"train_view_based"</span><span data-if="com" style="display:none">"train_view_based"</span><span data-if="dotnet" style="display:none">"train_view_based"</span><span data-if="python" style="display:none">"train_view_based"</span>, <span data-if="hdevelop" style="display:inline">'train_self_similar_poses'</span><span data-if="c" style="display:none">"train_self_similar_poses"</span><span data-if="cpp" style="display:none">"train_self_similar_poses"</span><span data-if="com" style="display:none">"train_self_similar_poses"</span><span data-if="dotnet" style="display:none">"train_self_similar_poses"</span><span data-if="python" style="display:none">"train_self_similar_poses"</span></p>
</div>
  <div class="par">
<div class="parhead">
<span id="GenParamValue" class="parname"><b><code><span data-if="hdevelop" style="display:inline">GenParamValue</span><span data-if="c" style="display:none">GenParamValue</span><span data-if="cpp" style="display:none">GenParamValue</span><span data-if="com" style="display:none">GenParamValue</span><span data-if="dotnet" style="display:none">genParamValue</span><span data-if="python" style="display:none">gen_param_value</span></code></b> (input_control)  </span><span>attribute.value(-array) <code>→</code> <span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">MaybeSequence[Union[str, float, int]]</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (string / </span><span data-if="hdevelop" style="display:inline">real / </span><span data-if="hdevelop" style="display:inline">integer)</span><span data-if="dotnet" style="display:none"> (<i>string</i> / </span><span data-if="dotnet" style="display:none">double / </span><span data-if="dotnet" style="display:none">int / </span><span data-if="dotnet" style="display:none">long)</span><span data-if="cpp" style="display:none"> (<i>HString</i> / </span><span data-if="cpp" style="display:none">double / </span><span data-if="cpp" style="display:none">Hlong)</span><span data-if="c" style="display:none"> (<i>char*</i> / </span><span data-if="c" style="display:none">double / </span><span data-if="c" style="display:none">Hlong)</span></span>
</div>
<p class="pardesc">Values of the generic parameters.</p>
<p class="pardesc"><span class="parcat">Default:
      </span>[]</p>
<p class="pardesc"><span class="parcat">Suggested values:
      </span>0, 1, <span data-if="hdevelop" style="display:inline">'true'</span><span data-if="c" style="display:none">"true"</span><span data-if="cpp" style="display:none">"true"</span><span data-if="com" style="display:none">"true"</span><span data-if="dotnet" style="display:none">"true"</span><span data-if="python" style="display:none">"true"</span>, <span data-if="hdevelop" style="display:inline">'false'</span><span data-if="c" style="display:none">"false"</span><span data-if="cpp" style="display:none">"false"</span><span data-if="com" style="display:none">"false"</span><span data-if="dotnet" style="display:none">"false"</span><span data-if="python" style="display:none">"false"</span>, 0.005, 0.01, 0.02, 0.05, 0.1</p>
</div>
  <div class="par">
<div class="parhead">
<span id="SurfaceModelID" class="parname"><b><code><span data-if="hdevelop" style="display:inline">SurfaceModelID</span><span data-if="c" style="display:none">SurfaceModelID</span><span data-if="cpp" style="display:none">SurfaceModelID</span><span data-if="com" style="display:none">SurfaceModelID</span><span data-if="dotnet" style="display:none">surfaceModelID</span><span data-if="python" style="display:none">surface_model_id</span></code></b> (output_control)  </span><span>surface_model <code>→</code> <span data-if="dotnet" style="display:none"><a href="HSurfaceModel.html">HSurfaceModel</a>, </span><span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">HHandle</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (handle)</span><span data-if="dotnet" style="display:none"> (<i>IntPtr</i>)</span><span data-if="cpp" style="display:none"> (<i>HHandle</i>)</span><span data-if="c" style="display:none"> (<i>handle</i>)</span></span>
</div>
<p class="pardesc">Handle of the surface model.</p>
</div>
<h2 id="sec_result">结果</h2>
<p><code><span data-if="hdevelop" style="display:inline">create_surface_model</span><span data-if="c" style="display:none">create_surface_model</span><span data-if="cpp" style="display:none">CreateSurfaceModel</span><span data-if="com" style="display:none">CreateSurfaceModel</span><span data-if="dotnet" style="display:none">CreateSurfaceModel</span><span data-if="python" style="display:none">create_surface_model</span></code> returns <TT>2</TT> (
      <TT>H_MSG_TRUE</TT>)
     if all parameters are
correct. 如有必要，将引发异常。</p>
<h2 id="sec_predecessors">可能的前置算子</h2>
<p>
<code><a href="read_object_model_3d.html"><span data-if="hdevelop" style="display:inline">read_object_model_3d</span><span data-if="c" style="display:none">read_object_model_3d</span><span data-if="cpp" style="display:none">ReadObjectModel3d</span><span data-if="com" style="display:none">ReadObjectModel3d</span><span data-if="dotnet" style="display:none">ReadObjectModel3d</span><span data-if="python" style="display:none">read_object_model_3d</span></a></code>, 
<code><a href="xyz_to_object_model_3d.html"><span data-if="hdevelop" style="display:inline">xyz_to_object_model_3d</span><span data-if="c" style="display:none">xyz_to_object_model_3d</span><span data-if="cpp" style="display:none">XyzToObjectModel3d</span><span data-if="com" style="display:none">XyzToObjectModel3d</span><span data-if="dotnet" style="display:none">XyzToObjectModel3d</span><span data-if="python" style="display:none">xyz_to_object_model_3d</span></a></code>, 
<code><a href="get_object_model_3d_params.html"><span data-if="hdevelop" style="display:inline">get_object_model_3d_params</span><span data-if="c" style="display:none">get_object_model_3d_params</span><span data-if="cpp" style="display:none">GetObjectModel3dParams</span><span data-if="com" style="display:none">GetObjectModel3dParams</span><span data-if="dotnet" style="display:none">GetObjectModel3dParams</span><span data-if="python" style="display:none">get_object_model_3d_params</span></a></code>, 
<code><a href="surface_normals_object_model_3d.html"><span data-if="hdevelop" style="display:inline">surface_normals_object_model_3d</span><span data-if="c" style="display:none">surface_normals_object_model_3d</span><span data-if="cpp" style="display:none">SurfaceNormalsObjectModel3d</span><span data-if="com" style="display:none">SurfaceNormalsObjectModel3d</span><span data-if="dotnet" style="display:none">SurfaceNormalsObjectModel3d</span><span data-if="python" style="display:none">surface_normals_object_model_3d</span></a></code>
</p>
<h2 id="sec_successors">可能的后置算子</h2>
<p>
<code><a href="find_surface_model.html"><span data-if="hdevelop" style="display:inline">find_surface_model</span><span data-if="c" style="display:none">find_surface_model</span><span data-if="cpp" style="display:none">FindSurfaceModel</span><span data-if="com" style="display:none">FindSurfaceModel</span><span data-if="dotnet" style="display:none">FindSurfaceModel</span><span data-if="python" style="display:none">find_surface_model</span></a></code>, 
<code><a href="refine_surface_model_pose.html"><span data-if="hdevelop" style="display:inline">refine_surface_model_pose</span><span data-if="c" style="display:none">refine_surface_model_pose</span><span data-if="cpp" style="display:none">RefineSurfaceModelPose</span><span data-if="com" style="display:none">RefineSurfaceModelPose</span><span data-if="dotnet" style="display:none">RefineSurfaceModelPose</span><span data-if="python" style="display:none">refine_surface_model_pose</span></a></code>, 
<code><a href="get_surface_model_param.html"><span data-if="hdevelop" style="display:inline">get_surface_model_param</span><span data-if="c" style="display:none">get_surface_model_param</span><span data-if="cpp" style="display:none">GetSurfaceModelParam</span><span data-if="com" style="display:none">GetSurfaceModelParam</span><span data-if="dotnet" style="display:none">GetSurfaceModelParam</span><span data-if="python" style="display:none">get_surface_model_param</span></a></code>, 
<code><a href="write_surface_model.html"><span data-if="hdevelop" style="display:inline">write_surface_model</span><span data-if="c" style="display:none">write_surface_model</span><span data-if="cpp" style="display:none">WriteSurfaceModel</span><span data-if="com" style="display:none">WriteSurfaceModel</span><span data-if="dotnet" style="display:none">WriteSurfaceModel</span><span data-if="python" style="display:none">write_surface_model</span></a></code>, 
<code><a href="clear_surface_model.html"><span data-if="hdevelop" style="display:inline">clear_surface_model</span><span data-if="c" style="display:none">clear_surface_model</span><span data-if="cpp" style="display:none">ClearSurfaceModel</span><span data-if="com" style="display:none">ClearSurfaceModel</span><span data-if="dotnet" style="display:none">ClearSurfaceModel</span><span data-if="python" style="display:none">clear_surface_model</span></a></code>, 
<code><a href="set_surface_model_param.html"><span data-if="hdevelop" style="display:inline">set_surface_model_param</span><span data-if="c" style="display:none">set_surface_model_param</span><span data-if="cpp" style="display:none">SetSurfaceModelParam</span><span data-if="com" style="display:none">SetSurfaceModelParam</span><span data-if="dotnet" style="display:none">SetSurfaceModelParam</span><span data-if="python" style="display:none">set_surface_model_param</span></a></code>
</p>
<h2 id="sec_alternatives">可替代算子</h2>
<p>
<code><a href="read_surface_model.html"><span data-if="hdevelop" style="display:inline">read_surface_model</span><span data-if="c" style="display:none">read_surface_model</span><span data-if="cpp" style="display:none">ReadSurfaceModel</span><span data-if="com" style="display:none">ReadSurfaceModel</span><span data-if="dotnet" style="display:none">ReadSurfaceModel</span><span data-if="python" style="display:none">read_surface_model</span></a></code>
</p>
<h2 id="sec_see">参考其它</h2>
<p>
<code><a href="find_surface_model.html"><span data-if="hdevelop" style="display:inline">find_surface_model</span><span data-if="c" style="display:none">find_surface_model</span><span data-if="cpp" style="display:none">FindSurfaceModel</span><span data-if="com" style="display:none">FindSurfaceModel</span><span data-if="dotnet" style="display:none">FindSurfaceModel</span><span data-if="python" style="display:none">find_surface_model</span></a></code>, 
<code><a href="refine_surface_model_pose.html"><span data-if="hdevelop" style="display:inline">refine_surface_model_pose</span><span data-if="c" style="display:none">refine_surface_model_pose</span><span data-if="cpp" style="display:none">RefineSurfaceModelPose</span><span data-if="com" style="display:none">RefineSurfaceModelPose</span><span data-if="dotnet" style="display:none">RefineSurfaceModelPose</span><span data-if="python" style="display:none">refine_surface_model_pose</span></a></code>, 
<code><a href="read_surface_model.html"><span data-if="hdevelop" style="display:inline">read_surface_model</span><span data-if="c" style="display:none">read_surface_model</span><span data-if="cpp" style="display:none">ReadSurfaceModel</span><span data-if="com" style="display:none">ReadSurfaceModel</span><span data-if="dotnet" style="display:none">ReadSurfaceModel</span><span data-if="python" style="display:none">read_surface_model</span></a></code>, 
<code><a href="write_surface_model.html"><span data-if="hdevelop" style="display:inline">write_surface_model</span><span data-if="c" style="display:none">write_surface_model</span><span data-if="cpp" style="display:none">WriteSurfaceModel</span><span data-if="com" style="display:none">WriteSurfaceModel</span><span data-if="dotnet" style="display:none">WriteSurfaceModel</span><span data-if="python" style="display:none">write_surface_model</span></a></code>, 
<code><a href="clear_surface_model.html"><span data-if="hdevelop" style="display:inline">clear_surface_model</span><span data-if="c" style="display:none">clear_surface_model</span><span data-if="cpp" style="display:none">ClearSurfaceModel</span><span data-if="com" style="display:none">ClearSurfaceModel</span><span data-if="dotnet" style="display:none">ClearSurfaceModel</span><span data-if="python" style="display:none">clear_surface_model</span></a></code>, 
<code><a href="set_surface_model_param.html"><span data-if="hdevelop" style="display:inline">set_surface_model_param</span><span data-if="c" style="display:none">set_surface_model_param</span><span data-if="cpp" style="display:none">SetSurfaceModelParam</span><span data-if="com" style="display:none">SetSurfaceModelParam</span><span data-if="dotnet" style="display:none">SetSurfaceModelParam</span><span data-if="python" style="display:none">set_surface_model_param</span></a></code>
</p>
<h2 id="sec_references">References</h2>
<p>

Bertram Drost, Markus Ulrich, Nassir Navab, Slobodan Ilic: “Model
Globally, Match Locally: Efficient and Robust 3D Object Recognition.”
Computer Vision and Pattern Recognition, pp. 998-1005, 2010.
</p>
<h2 id="sec_module">模块</h2>
<p>
3D Metrology</p>
<!--OP_REF_FOOTER_START-->
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